Innovative endoscopic sino-nasal and anterior skull base robotics.

Purpose: Design a compact, ergonomic, and safe endoscope positioner dedicated to the sino-nasal tract, and the anterior and middle-stage skull base.

Methods: A motion and force analysis of the surgeon's movement was performed on cadaver heads to gather objective data for specification purposes. An experimental comparative study was then performed with three different kinematics, again on cadaver heads, in order to define the best architecture satisfying the motion and force requirements.

Computer-assisted and robot-assisted technologies to improve bone-cutting accuracy when integrated with a freehand process using an oscillating saw.

Background: In orthopaedic surgery, many interventions involve freehand bone cutting with an oscillating saw. Such freehand procedures can produce large cutting errors due to the complex hand-controlled positioning of the surgical tool. This study was performed to investigate the potential improvements in cutting accuracy when computer-assisted and robot-assisted technologies are applied to a freehand bone-cutting process when no jigs are available.

Design and preliminary in vivo validation of a robotic laparoscope holder for minimally invasive surgery.

Background: Manual manipulation of the camera is a major source of difficulties encountered by surgeons while performing minimally invasive laparoscopic surgery.

Methods: A survey of laparoscopic procedures and a review of existing active and passive holders were conducted. Based on these analyses, essential requirements were highlighted for such devices.

Development and first in vivo trial of EvoLap, an active laparoscope positioner.

To determine essential specifications for an active endoscope holder, a survey of laparoscopic procedures was conducted. A review of the literature highlighted the advantages and limitations of existing scope-holding systems. From this analysis, basic requirements were listed for such devices.

Accuracy in planar cutting of bones: an ISO-based evaluation.

Background: Computer- and robot-assisted technologies are capable of improving the accuracy of planar cutting in orthopaedic surgery. This study is a first step toward formulating and validating a new evaluation methodology for planar bone cutting, based on the standards from the International Organization for Standardization.

Methods: Our experimental test bed consisted of a purely geometrical model of the cutting process around a simulated bone.

Evaluation of the influence of probe pressure on the B-mode ultrasound measurement of arterial diameter.

This paper deals with the influence of the echographic probe pressure on the measurement of arterial diameter. It is common sense that arterial diameter measurements are affected by the pressure exerted on the B-mode ultrasound probe but we found no report in the current literature analyzing and quantifying this effect. We demonstrated this influence by the analysis of arterial images obtained with a conventional B-mode ultrasound system while monitoring the pressure exerted on the probe with a force sensor.

A hybrid position/force control approach for identification of deformation models of skin and underlying tissues.

In this paper, the focus is on the design of two biomechanical models representing the skin as well as the underlying tissues behavior and properties during a robotized harvesting process. The first model is quasi-static (i.e.